Furane's profile - activity

Thank you very much, this solved my problem. But now the robot is easily stuck because of the obstacles. Which parameters can I change in the costmap and navigator configuration files to decrease the obstacle influence?

edit: I can only read your edit text and I see no comments. I used RVIZ to visualize the map as you said and I noticed two things: the turtlebot does a lot of circle because sometimes it isn't able to detect part of the map without obstacle: http://hpics.li/e0e94ff ( it's because of the bad laser quality) and it's not able to go between two obstacles (1m). The blue navigation line is good but not the green corrected line. I think it's because the costmap is too large for obstacles.

edit_2: Finally I changed of robot and I use an Hokuyo laser instead of the Kinect. All the nav2d packages are now working well and I'm able to use the default mapper node to build a map. Thank you very much for your answers.

Hello,

I already asked a question here. I received no answer but I found a way to work around the problem. I'm currently still trying to use the exploration service provided by nav2d. I solved my problem of map building by changing the mapper node by the gmapping one. But now I'm still not able to call the StartMapping and StartExplore services. I got this message: "Could not get a map." I looked at the code to find the not respected condition and I found that:

ros::ServiceClient mGetMapClient = robotNode.serviceClient<nav_msgs::GetMap>(std::string("get_map"));
nav_msgs::GetMap srv;
if(!mGetMapClient.call(srv))
{
ROS_INFO("Could not get a map.");
return false;
}

Have you any idea of what to do when a service doesn't work? And particularly this one?

Thank you in advance for any answer!

Sorry for my bad english. If you need any more information to find the problem source, I can provide it.

Hello,

I followed the nav2d tutorials to adapt it to a turtlebot. The first two tutorials work well but I have a problem with the 3rd one. I noticed that the mapper node from the nav2d_karto doesn't build a map: no frame are published and the map topic is empty.

I get this message when I run the launchfile: [ WARN] [1427816737.545498816]: MessageFilter [target=map ]: Dropped 95.01% of messages so far. Please turn the [ros.rviz.message_notifier] rosconsole logger to DEBUG for more information.

Sometimes it's 98% or 100% dropped.

Edit: I checked the rosconsole in debug mode and I get two new messages:

First message:
MessageFilter [target=map ]: Added message in frame odom at time 1427987427.762, count now 10

Second message:
MessageFilter [target=map ]: Removed oldest message because buffer is full, count now 10 (frame_id=odom, stamp=1427987426.762333)

Here is the tf tree: http://hpics.li/a627710

And the rviz screenshot related: http://hpics.li/14f0f88

Here is my launch file: <launch>

<include file="$(find turtlebot_bringup)/launch/3dsensor.launch"/>
<!-- Some general parameters -->
<param name="use_sim_time" value="false" />
<rosparam file="$(find robot_exploration)/param/ros.yaml"/>

<!-- Start the Operator to control the simulated robot -->
<node name="Operator" pkg="nav2d_operator" type="operator" >
    <remap from="cmd_vel" to="/teleop_velocity_smoother/raw_cmd_vel"/>
    <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
    <rosparam file="$(find nav2d_tutorials)/param/costmap.yaml" ns="local_map" />
</node>

<!-- to smooth the velocity -->
<include file="$(find turtlebot_teleop)/launch/includes/velocity_smoother.launch.xml"/>

<!-- Start Mapper to genreate map from laser scans -->
<node name="Mapper" pkg="nav2d_karto" type="mapper">
    <rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
</node>

<!-- Start the Navigator to move the robot autonomously -->
<node name="Navigator" pkg="nav2d_navigator" type="navigator">
    <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
</node>

<node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
<node name="Explore" pkg="nav2d_navigator" type="explore_client" />
<node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />

<!-- Start the joystick-driver and remote-controller for operation-->
<node name="Joystick" pkg="joy" type="joy_node" />
<node name="Remote" pkg="nav2d_remote" type="remote_joy" />

<!-- RVIZ to view the visualization -->
<node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find nav2d_tutorials)/param/tutorial3.rviz" />

</launch>

and the ros.yaml related:

Defines topics services and frames for all modules

TF frames
laser_frame: camera_link #base_laser_link
robot_frame: base_link
odometry_frame: odom
offset_frame: offset
map_frame: map

ROS topics
map_topic: map
laser_topic: scan #base_scan

ROS services
map_service: static_map

Thank you in advance for any answer!